Modeling Performance Measurement of Mobile Manipulators

Roger Bostelman, Sebti Foufou, Tsai Hong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Mobile manipulators are being marketed around the world as single manufacturer systems (i.e., robot arm and vehicle manufactured by the same organization) and as independent robot arms, from a different manufacturer and integrated with automatic guided vehicles (AGVs) or mobile robots. Test methods for measuring safety and performance of either of these types of mobile manipulators have yet to be developed and therefore, potential users cannot compare one system to another to match to tasks. Similarly, the control of these systems can vary greatly from AGV control to more autonomous mobile robot control and further, to robot arm control methods. Systems Modeling Language (SysML) is a general-purpose modeling language for systems engineering applications that supports the specification, analysis, design, verification, and validation of simple through complex systems, such as mobile manipulators. This paper uses SysML to describe a method using an artifact for performance measurement of mobile manipulators performing assembly tasks. Uncertainty propagation, a key component in understanding the effects of mobile manipulator constraints, is also modeled and described.

Original languageEnglish (US)
Title of host publication2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages300-305
Number of pages6
ISBN (Print)9781538604892
DOIs
Publication statusPublished - Aug 24 2018
Event7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017 - Honolulu, United States
Duration: Jul 31 2017Aug 4 2017

Other

Other7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
CountryUnited States
CityHonolulu
Period7/31/178/4/17

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Optimization

Cite this

Bostelman, R., Foufou, S., & Hong, T. (2018). Modeling Performance Measurement of Mobile Manipulators. In 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017 (pp. 300-305). [8446329] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CYBER.2017.8446329